Photographic apparatus

ABSTRACT

A photographic apparatus comprises a movable platform and a controller. 
     The movable platform has an imager that captures an optical image through a taking lens, and is movable and rotatable on an xy plane perpendicular to an optical axis of the taking lens. 
     The controller calculates an inclination angle of the photographic apparatus, which is formed by rotation of the photographic apparatus around the optical axis, as measured with respect to a level plane perpendicular to the direction of gravitational force, and performs a controlled movement of the movable platform for an inclination correction based on the inclination angle. 
     The controller calculates the inclination angle but stops the controlled movement when the photographic apparatus is set to a sleep mode.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a photographic apparatus, and inparticular, to a photographic apparatus that performs an inclinationcorrection.

2. Description of the Related Art

There is known a type of image stabilization (also known as anti-shake,but hereinafter, simply “stabilization”) apparatus for a photographicapparatus. The image stabilization apparatus corrects for the effects ofhand shake either by moving a movable platform including an imagestabilization lens or by moving an imager (an imaging sensor) on an xyplane perpendicular to an optical axis of a taking lens of thephotographic apparatus.

Japanese unexamined patent publication (KOKAI) No. 2006-71743 disclosesan image stabilization apparatus that calculates hand-shake quantity onthe basis of the yaw, pitch, and roll components of hand shake, and thenperforms a stabilization operation on the basis of the hand-shakequantity.

In this stabilization operation, the following stabilization functionsare performed: a first stabilization that corrects the yaw component ofhand shake, a second stabilization that corrects the pitch component ofhand shake, and a third stabilization that corrects the roll componentof hand shake.

In the third stabilization, the rotation angle of the photographicapparatus is calculated from the point when the third stabilizationcommences. However, the inclination angle of the photographic apparatus,which is formed by rotation of the photographic apparatus around itsoptical axis, as measured with respect to a level plane, is notconsidered. The inclination angle changes according to the orientationof the photographic apparatus.

If the photographic apparatus is inclined when the stabilizationcommences, the third stabilization is performed so as to maintain thisinclined state. Therefore, the inclination correction in order to levelis not performed and none of the four sides of the rectangle composingthe outline of the imaging surface of the imager are parallel to eitherthe x direction or the y direction, in other words, the image iscaptured with the imager being inclined.

SUMMARY OF THE INVENTION

Therefore, an object of the present invention is to provide aphotographic apparatus that performs the inclination correction.

According to the present invention, a photographic apparatus comprises amovable platform and a controller.

The movable platform has an imager that captures an optical imagethrough a taking lens, and is movable and rotatable on an xy planeperpendicular to an optical axis of the taking lens.

The controller calculates an inclination angle of the photographicapparatus, which is formed by rotation of the photographic apparatusaround the optical axis, as measured with respect to a level planeperpendicular to the direction of gravitational force, and performs acontrolled movement of the movable platform for an inclinationcorrection based on the inclination angle.

The controller calculates the inclination angle but stops the controlledmovement when the photographic apparatus is set to a sleep mode.

BRIEF DESCRIPTION OF THE DRAWINGS

The objects and advantages of the present invention will be betterunderstood from the following description, with reference to theaccompanying drawings in which:

FIG. 1 is a perspective view of the embodiment of the photographicapparatus as viewed from the rear;

FIG. 2 is a front view of the photographic apparatus, when thephotographic apparatus is held in the first horizontal orientation;

FIG. 3 is a front view of the photographic apparatus, when thephotographic apparatus is held in the second horizontal orientation;

FIG. 4 is a front view of the photographic apparatus, when thephotographic apparatus is held in the first vertical orientation;

FIG. 5 is a front view of the photographic apparatus, when thephotographic apparatus is held in the second vertical orientation;

FIG. 6 is a circuit construction diagram of the photographic apparatus;

FIG. 7 illustrates the calculations involved in the inclinationcorrection;

FIG. 8 is a front view of the photographic apparatus, and Kθ is theangle formed when the photographic apparatus is rotated (inclined) in acounter-clockwise direction as viewed from the front, away from thefirst horizontal orientation;

FIG. 9 is a front view of the photographic apparatus, and Kθ is theangle formed when the photographic apparatus is rotated (inclined) in acounter-clockwise direction as viewed from the front, away from thefirst vertical orientation;

FIG. 10 is a front view of the photographic apparatus, and Kθ is theangle formed when the photographic apparatus is rotated (inclined) in acounter-clockwise direction as viewed from the front, away from thesecond horizontal orientation;

FIG. 11 is a front view of the photographic apparatus, and Kθ is theangle formed when the photographic apparatus is rotated (inclined) in acounter-clockwise direction as viewed from the front, away from thesecond vertical orientation;

FIG. 12 is a construction diagram of the movable platform;

FIG. 13 illustrates the movement quantity of the horizontal drivingpoint DPx in the x direction, the movement quantities of the first andsecond vertical driving points DPyl and DPyr in the y direction, inaccordance to the rotation quantity α;

FIGS. 14 and 15 are a flowchart that shows the main operation of thephotographic apparatus;

FIGS. 16 and 17 are a flowchart that shows the details of the timerinterrupt process; and

FIG. 18 is a flowchart that shows the details of the calculation of thecamera inclination angle.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention is described below with reference to theembodiment shown in the drawings. In the embodiment, the photographicapparatus 1 is a digital camera. A camera lens (i.e. taking lens) 67 ofthe photographic apparatus 1 has the optical axis LL.

By way of orientation in the embodiment, the x direction, the ydirection, and the z direction are defined (see FIG. 1). The x directionis the direction perpendicular to the optical axis LL. The y directionis the direction perpendicular to both the optical axis LL and the xdirection. The z direction is the direction parallel to the optical axisLL and perpendicular to both the x direction and the y direction.

The relationships between the direction of gravitational force and the xdirection, the y direction, and the z direction, change according to theorientation of the photographic apparatus 1.

For example, when the photographic apparatus 1 is held in the firsthorizontal orientation, in other words, when the photographic apparatus1 is held horizontally and the upper surface of the photographicapparatus 1 faces upward (see FIG. 2), the x direction and the zdirection are perpendicular to the direction of gravitational force andthe y direction is parallel to the direction of gravitational force.

When the photographic apparatus 1 is held in the second horizontalorientation, in other words, when the photographic apparatus 1 is heldhorizontally and the lower surface of the photographic apparatus 1 facesupward (see FIG. 3), the x direction and the z direction areperpendicular to the direction of gravitational force and the ydirection is parallel to the direction of gravitational force.

When the photographic apparatus 1 is held in the first verticalorientation, in other words, when the photographic apparatus 1 is heldvertically and one of the side surfaces of the photographic apparatus 1faces upward (see FIG. 4), the x direction is parallel to the directionof gravitational force and the y direction and the z direction areperpendicular to the direction of gravitational force.

When the photographic apparatus 1 is held in the second verticalorientation, in other words, when the photographic apparatus 1 is heldvertically and the other side surface of the photographic apparatus 1faces upward (see FIG. 5), the x direction is parallel to the directionof gravitational force and the y direction and the z direction areperpendicular to the direction of gravitational force.

When the front surface of the photographic apparatus 1 faces in thedirection of gravitational force, the x direction and the y directionare perpendicular to the direction of gravitational force and the zdirection is parallel to the direction of gravitational force. The frontsurface of the photographic apparatus 1 is the side on which the cameralens 67 is attached.

The imaging part of the photographic apparatus 1 comprises a PON button11, a PON switch 11 a, a shutter release button 13, a shutter releaseswitch 13 a for an exposure operation, an inclination-correction ON/OFFbutton 14, an inclination-correction ON/OFF switch 14 a, a display 17such as an LCD monitor or the like, an optical finder 18, a DSP 19, aCPU 21, an AE (automatic exposure) unit 23, an AF (automatic focus) unit24, an imaging unit 39 a in the inclination correction unit 30, and thecamera lens 67 (see FIGS. 1, 2, and 6).

Whether the PON switch 11 a is in the ON state or OFF state isdetermined by the state of the PON button 11. The ON/OFF states of thephotographic apparatus 1 correspond to the ON/OFF states of the PONswitch 11 a.

The subject image is captured as an optical image through the cameralens 67 by the imaging unit 39 a, and the captured image is displayed onthe display 17 (the through image indication). The subject image can beoptically observed through the optical finder 18.

When the shutter release button 13 is fully depressed by the operator,the shutter release switch 13 a changes to the ON state so that theimaging operation is performed by the imaging unit 39 a (the imagingapparatus), and the captured image is stored.

The information indicating whether the shutter release switch 13 a is inthe ON or OFF state is input to port P13 of the CPU 21 as a 1-bitdigital signal.

The display 17 is connected to port P6 of the CPU 21 for inputting andoutputting signals, and displays the through image or the still imagecaptured by the imaging operation.

Note that while the photographic apparatus 1 is in a sleep mode, theimaging operation, the display of the through image, and the controlledmovement of the movable platform 30 a are not performed and only thecalculation of the camera inclination angle Kθ and the present positionP (the horizontal detected position signal px, the first verticaldetected position signal pyl, and the second vertical detected positionsignal pyr) are performed.

The camera lens 67 is an interchangeable lens of the photographicapparatus 1 and is connected to port P8 of the CPU 21. The camera lens67 outputs the lens information stored in a built-in ROM in the cameralens 67, to the CPU 21, when the photographic apparatus 1 is set to theON state etc.

The DSP 19 is connected to port P9 of the CPU 21 and to the imaging unit39 a. Based on a command from the CPU 21, the DSP 19 performs thecalculation operations, such as the image-processing operation, etc., onthe image signal obtained by the imaging operation of the imaging unit39 a.

The CPU 21 is a control apparatus that controls each part of thephotographic apparatus 1 in its imaging operation, and controls themovement of the movable platform 30 a when the inclination correction isperformed.

The inclination correction includes both the controlled movement of themovable platform 30 a and position-detection efforts.

In the sleep mode, electric power is not supplied to components such asthe imaging unit 39 a and the horizontal coil 31 a, etc., which arenecessary for the imaging operation and the movement of the movableplatform 30 a, in order to reduce electric power consumption of thephotographic apparatus 1 under the condition where only the minimumelectric power required for driving the CPU 21, the inclinationdetection unit 25, the horizontal hall sensor hh10, the first verticalhall sensor hv1, the second vertical hall sensor hv2, and the hallsensor signal-processing unit 45 is supplied.

The CPU 21 calculates a time length that operation keys of thephotographic apparatus 1 have not been operated, in other words,calculates a nonuse elapsed time parameter NSW. When the nonuse elapsedtime parameter NSW is longer than a first time OTM, the CPU 21 sets thephotographic apparatus 1 to the sleep mode (a sleep mode parameterSLP=1).

When any one of the operation keys is operated, the CPU 21 cancels thesleep mode (the sleep mode parameter SLP=0).

The first time OTM represents a waiting time from the point when one ofthe operation keys is operated until the photographic apparatus 1 is setto the sleep mode. The length of the first time OTM may either beoptionally set by the user or a fixed value determined in advance.

The AE unit (exposure-calculating unit) 23 performs the photometricoperation and calculates photometric values based on the subject beingphotographed. The AE unit 23 also calculates the aperture value and theduration of the exposure operation, with respect to the photometricvalues, both of which are needed for the imaging operation. The AF unit24 performs the AF sensing operation and the corresponding focusingoperation, both of which are needed for the imaging operation. In thefocusing operation, the camera lens 67 is re-positioned along theoptical axis LL.

The AE unit 23 is connected to port P4 of the CPU 21 for inputting andoutputting signals. The AF unit 24 is connected to port P5 of the CPU 21for inputting and outputting signals.

The inclination-correction part (the inclination-correction apparatus)of the photographic apparatus 1 comprises an inclination-correctionON/OFF button 14, an inclination-correction ON/OFF switch 14 a, adisplay 17, a CPU 21, an inclination detection unit 25, a driver circuit29, an inclination correction unit 30, and a hall sensorsignal-processing unit (a signal processing circuit of themagnetic-field change-detecting element) 45.

The ON/OFF states of the inclination-correction ON/OFF switch 14 achange according to the operation state of the inclination-correctionON/OFF button 14.

Specifically, when the inclination-correction ON/OFF button 14 isdepressed by the operator, the inclination-correction ON/OFF switch 14 ais changed to the ON state so that the inclination correction, in whichthe inclination detection unit 25 and the inclination correction unit 30are driven independently of the other operations that include thephotometric operation etc., is carried out in the predetermined timeinterval. When the inclination-correction ON/OFF switch 14 a is in theON state, (in other words in the inclination-correction mode), theinclination-correction parameter CP is set to 1 (CP=1). When theinclination-correction ON/OFF switch 14 a is not in the ON state, (inother words in the non-inclination correction mode), theinclination-correction parameter CP is set to 0 (CP=0). In theembodiment, the value of the predetermined time interval is set to 1 ms.

The information indicating whether the inclination-correction ON/OFFswitch 14 a is in the ON or OFF state is input to port P14 of the CPU 21as a 1-bit digital signal.

Next, the details of the input and output relationships between the CPU21 and the inclination detection unit 25, the driver circuit 29, theinclination correction unit 30, and the hall sensor signal-processingunit 45 are explained.

The inclination detection unit 25 has an acceleration sensor 26, a firstamplifier 28 a, and a second amplifier 28 b.

The acceleration sensor 26 detects a first gravitational component and asecond gravitational component. The first gravitational component is thehorizontal component of gravitational acceleration in the x direction.The second gravitational component is the vertical component ofgravitational acceleration in the y direction.

The first amplifier 28 a amplifies the signal representing the firstgravitational component output from the acceleration sensor 26, andoutputs the analog signal to the A/D converter A/D 1 of the CPU 21 as afirst acceleration ah.

The second amplifier 28 b amplifies the signal representing the secondgravitational component output from the acceleration sensor 26, andoutputs the analog signal to the A/D converter A/D 2 of the CPU 21 as asecond acceleration av.

When the inclination correction is performed (CP=1), the inclinationcorrection unit 30 rotates the movable platform 30 a including theimaging unit 39 a around an axis parallel to the optical axis LL inorder to correct (reduce) the inclination of the photographic apparatus1 caused by its undesired rotation about the optical axis LL, asmeasured with respect to a level plane perpendicular to the direction ofgravitational force.

In other words, in the inclination correction, the controlled movementrepositions the movable platform 30 a so that the upper and lower sidesof the rectangle composing the outline of the imaging surface of theimager 39 a 1 are perpendicular to the direction of gravitational forceand the left and right sides are parallel to the direction ofgravitational force.

Therefore, the imager 39 a 1 can be automatically leveled without usinga level vial. When the photographic apparatus 1 images a subjectincluding the horizon, the imaging operation can be performed with theupper and lower sides of the rectangle composing the outline of theimaging surface of the imager 39 a 1 parallel to the horizon.

Specifically, the inclination correction unit 30 is an apparatus thatperforms the inclination correction by moving the imaging unit 39 a tothe position S where the imaging unit 39 a (the movable platform 30 a)should be moved, as calculated by the CPU 21 based on the informationfrom the inclination detection unit 25.

The inclination correction unit 30 has a fixed unit 30 b and a movableplatform 30 a that includes the imaging unit 39 a and can be displacedand rotated on the xy plane.

The supply of electric power to the CPU 21 and each part of theinclination detection unit 25 begins after the PON switch 11 a is set tothe ON state (i.e. when the main power supply is set to the ON state).Inclination detection efforts by the inclination detection unit 25 forcalculating the inclination angle (the camera inclination angle Kθ)begin after the PON switch 11 a is set to the ON state.

Furthermore, the inclination detection efforts by the inclinationdetection unit 25 for calculating the inclination angle are continuouslyperformed even when the photographic apparatus 1 is set to the sleepmode.

The CPU 21 converts the first acceleration ah, which is input to the A/Dconverter A/D 1, to a first digital acceleration signal Dah (A/Dconversion operation). It also calculates a first digital accelerationAah by reducing the high-frequency component of the first digitalacceleration signal Dah (the digital low-pass filtering) in order toreduce the noise component in the first digital acceleration signal Dah.

Similarly, the CPU 21 converts the second acceleration av, which isinput to the A/D converter A/D 2, to a second digital accelerationsignal Day (A/D conversion operation). It also calculates a seconddigital acceleration Aav by reducing the high-frequency component of thesecond digital acceleration signal Day (the digital low-pass filtering)in order to reduce the noise component in the second digitalacceleration signal Day.

The CPU 21 also calculates the camera inclination angle Kθ of thephotographic apparatus 1, which is formed by the rotation of thephotographic apparatus 1 around its optical axis LL, and is measuredwith respect to the level plane perpendicular to the direction ofgravitational force, on the basis of the magnitude of the differencebetween the absolute value of the first digital acceleration Aah and theabsolute value of the second digital acceleration Aav (see (1) in FIG.7).

The camera inclination angle Kθ of the photographic apparatus 1 changesaccording to the orientation of the photographic apparatus 1, and ismeasured with respect to one of either the first horizontal orientation,the second horizontal orientation, the first vertical orientation, orthe second vertical orientation. Therefore, the camera inclination angleKθ of the photographic apparatus 1 is represented by the angle at whichthe x direction or the y direction intersects the level plane.

When one of either the x direction or y direction lies on the levelplane, and when the other of the x direction or y direction intersectsthe level plane at an angle of 90 degrees, the photographic apparatus 1is in a non-inclined state.

Thus, the CPU 21 and the inclination detection unit 25 have a functionfor calculating the inclination angle of the photographic apparatus 1.

The calculation of the camera inclination angle Kθ is continuouslyperformed even when the photographic apparatus 1 is set to the sleepmode.

The calculation of the camera inclination angle Kθ includes a processthat requires a predetermined time from the beginning of the processuntil its output stabilizes, such as the digital low-pass filteringprocess, etc.

For example, in the case that the cut-off frequency of the digitallow-pass filtering is 4 Hz, about 250 ms of time is necessary beforestabilization.

In the embodiment, the process that requires the predetermined timebefore its output becomes stable, such as the digital low-pass filteringprocess, etc., is continuously performed even when the photographicapparatus 1 is in the sleep mode.

Therefore, it is not necessary to wait for the output of this process tostabilize, immediately after the end of sleep mode.

Accordingly, the camera inclination angle Kθ can also be accuratelycalculated and the inclination correction can also be accuratelyperformed immediately after the end of sleep mode.

The first digital acceleration Aah (the first gravitational component)and the second digital acceleration Aav (the second gravitationalcomponent) change according to the orientation of the photographicapparatus 1, and take values from −1 to +1.

For example, when the photographic apparatus 1 is held in the firsthorizontal orientation, in other words, when the photographic apparatus1 is held horizontally and the upper surface of the photographicapparatus 1 faces upward (see FIG. 2), the first digital accelerationAah is 0 and the second digital acceleration Aav is +1.

When the photographic apparatus 1 is held in the second horizontalorientation, in other words, when the photographic apparatus 1 is heldhorizontally and the lower surface of the photographic apparatus 1 facesupward (see FIG. 3), the first digital acceleration Aah is 0 and thesecond digital acceleration Aav is −1.

When the photographic apparatus 1 is held in the first verticalorientation, in other words, when the photographic apparatus 1 is heldvertically and one of the side surfaces of the photographic apparatus 1faces upward (see FIG. 4), the first digital acceleration Aah is −1 andthe second digital acceleration Aav is 0.

When the photographic apparatus 1 is held in the second verticalorientation, in other words, when the photographic apparatus 1 is heldvertically and the other side surface of the photographic apparatus 1faces upward (see FIG. 5), the first digital acceleration Aah is +1 andthe second digital acceleration Aav is 0.

When the front surface of the photographic apparatus 1 faces thedirection of gravitational force or the opposite direction, in otherwords, when the front surface of the photographic apparatus 1 facesupward or downward, the first digital acceleration Aah and the seconddigital acceleration Aav are 0.

When the photographic apparatus 1 is rotated (inclined) at an angle Kθin a counter-clockwise direction, as viewed from the front, from thefirst horizontal orientation (see FIG. 8), the first digitalacceleration Aah is −sin(Kθ) and the second digital acceleration Aav is+cos(Kθ).

Therefore, the inclination angle (the camera inclination angle Kθ) canbe calculated by performing an arcsine transformation on the firstdigital acceleration Aah and taking the negative or by performing anarccosine transformation on the second digital acceleration Aav.

However, while the absolute value of the inclination angle Kθ is verysmall, in other words, nearly 0, the variation of the sine function islarger than that of the cosine function so that the inclination angle isbest calculated by using the arcsine transformation rather than thearccosine transformation (Kθ=−Sin⁻¹ (Aah), see step S77 in FIG. 18).

When the photographic apparatus 1 is rotated (inclined) at an angle Kθin a counter-clockwise direction, as viewed from the front, from thefirst vertical orientation (see FIG. 9), the first digital accelerationAah is −cos(Kθ) and the second digital acceleration Aav is −sin(Kθ).

Therefore, the inclination angle (the camera inclination angle Kθ) canbe calculated by performing an arccosine transformation on the firstdigital acceleration Aah and taking the negative or by performing anarcsine transformation on the second digital acceleration Aav and takingthe negative.

However, while the absolute value of the inclination angle Kθ is verysmall, in other words, nearly 0, the variation of the sine function islarger than that of the cosine function so that the inclination angle isbest calculated by using the arcsine transformation rather than thearccosine transformation (Kθ=−Sin⁻¹(Aav), see step S73 in FIG. 18).

When the photographic apparatus 1 is rotated (inclined) at an angle Kθin a counter-clockwise direction, as viewed from the front, from thesecond horizontal orientation (see FIG. 10), the first digitalacceleration Aah is +sin(Kθ) and the second digital acceleration Aav is−cos (Kθ).

Therefore, the inclination angle (the camera inclination angle Kθ) canbe calculated by performing an arcsine transformation on the firstdigital acceleration Aah or by performing an arccosine transformation onthe second digital acceleration Aav and taking the negative.

However, while the absolute value of the inclination angle Kθ is verysmall, in other words, nearly 0, the variation of the sine function islarger than that of the cosine function so that the inclination angle isbest calculated by using the arcsine transformation rather than thearccosine transformation (Kθ=+Sin⁻¹ (Aah), see step S76 in FIG. 18).

When the photographic apparatus 1 is rotated (inclined) at an angle Kθin a counter-clockwise direction, as viewed from the front, from thesecond vertical orientation (see FIG. 11), the first digitalacceleration Aah is +cos(Kθ) and the second digital acceleration Aav is+sin(Kθ).

Therefore, the inclination angle (the camera inclination angle Kθ) canbe calculated by performing an arccosine transformation on the firstdigital acceleration Aah or by performing an arcsine transformation onthe second digital acceleration Aav.

However, while the absolute value of the inclination angle Kθ is verysmall, in other words, is nearly 0, the variation of the sine functionis larger than that of the cosine function so that the inclination angleis best calculated by using the arcsine transformation rather than thearccosine transformation (Kθ=+Sin⁻¹(Aav), see step S74 in FIG. 18).

The inclination angle, in other words, the camera inclination angle Kθis calculated by performing the arcsine transformation on the smaller ofthe absolute value of the first digital acceleration Aah and theabsolute value of the second digital acceleration Aav and by adding apositive or negative sign (Kθ=+Sin⁻¹ (Aah), −Sin⁻¹ (Aah), +Sin⁻¹(Aav),or −Sin⁻¹(Aav)).

Whether the positive or negative sign is added is determined on thebasis of the larger of the absolute value of the first digitalacceleration Aah and the absolute value of the second digitalacceleration Aav, and the sign of that larger value without applying theabsolute value (see steps S72 and S75 in FIG. 18). The details of thisdecision are explained by using the flowchart in FIG. 18.

In the embodiment, the acceleration detection operation that occursduring the interrupt process includes a process in the inclinationdetection unit 25 and the input of the first acceleration ah and thesecond acceleration av from the inclination detection unit 25 to the CPU21.

The camera inclination angle Kθ determines the magnitude of the rotationquantity α of the movable platform 30 a in the inclination correction(Δ=−Kθ).

The CPU 21 calculates the position S (Sx, Syl, Syr) where the imagingunit 39 a (the movable platform 30 a) should be moved in accordance tothe rotation quantity α (see (2) in FIG. 7 and step S65 in FIG. 17), andmoves the movable platform 30 a to the calculated position S.

When the inclination correction is not performed (CP=0), the CPU 21 setsthe position S (Sx, Syl, Syr), where the movable platform 30 a should bemoved, to the initial state (see (6) in FIG. 7 and step S63 in FIG. 17)and then moves the movable platform 30 a to the position correspondingto the initial state.

The initial state is a position of the movable platform 30 a, where themovable platform 30 a is positioned at the center of its movement rangein both the x and y directions, and each of the four sides of therectangle composing the outline of the imaging surface of the imager (animaging sensor) 39 a 1 is parallel to either the x direction or the ydirection.

In order to have enough time required to initially move the movableplatform 30 a to the initial state after the photographic apparatus 1 isset to the ON state, the CPU 21 calculates an amount of time thatelapses from the point when the photographic apparatus 1 is set to theON state, in other words, it calculates an elapsed time parameter TT.

While the elapsed time parameter TT is shorter than a second time TWAIT(=250 ms), the CPU 21 sets the inclination-correction parameter CP to 0mandatorily.

A driving point on the movable platform 30 a for moving the movableplatform 30 a in the x direction is defined as a horizontal drivingpoint DPx.

Driving points on the movable platform 30 a for moving the movableplatform 30 a in the y direction and for rotating the movable platform30 a are defined as a first vertical driving point DPyl and a secondvertical driving point DPyr (see FIGS. 12 and 13).

The horizontal driving point DPx is the point to which a horizontalelectro-magnetic force based on a coil for driving the movable platform30 a in the x direction (the horizontal coil 31 a) is applied. Thehorizontal driving point DPx is set to a position close to thehorizontal hall sensor hh10.

The first vertical driving point DPyl is the point to which a firstelectro-magnetic force based on a coil for driving the movable platform30 a in the y direction (the first vertical coil 32 a 1) is applied. Thefirst vertical driving point DPyl is set to a position close to thefirst vertical hall sensor hv1.

The second vertical driving point DPyr is the point to which a secondelectro-magnetic force based on a coil for driving the movable platform30 a in the y direction (the second vertical coil 32 a 2) is applied.The second vertical driving point DPyr is set to a position close to thesecond vertical hall sensor hv2.

The movement position Sx of the horizontal driving point DPx, which isthe movement quantity to the position of the horizontal driving pointDPx in the initial state, is calculated on the basis of the rotationquantity α (Sx=Lx×cos(θx+α)−Lx×cos(θx)).

Note that the distance Lx is the distance between the rotation center Oof the imaging surface of the imager 39 a 1 and the horizontal drivingpoint DPx.

The angle θx is the angle between the x direction and the line passingthrough the rotation center O and the horizontal driving point DPx inthe initial state.

The values Lx and θx are fixed values that are determined by design inadvance (see FIG. 13).

The movement position Syl of the first vertical driving point DPyl,which is the movement quantity to the position of the first verticaldriving point DPyl in the initial state, is calculated on the basis ofthe rotation quantity α (Syl=Lyl×cos(θyl−α)−Lyl×cos(θyl)).

Note that the distance Lyl is the distance between the rotation center Oof the imaging surface of the imager 39 a 1 and the first verticaldriving point DPyl.

The angle θyl is the angle between the y direction and the line passingthrough the rotation center O and the first vertical driving point DPylin the initial state.

The values Lyl and θyl are fixed values that are determined by design inadvance.

The movement position Syr of the second vertical driving point DPyr,which is the movement quantity to the position of the second verticaldriving point DPyr in the initial state, is calculated on the basis ofthe rotation quantity α (Syr=Lyr×cos(θyr+α)−Lyl×cos(θyr)).

Note that the distance Lyr is the distance between the rotation center Oof the imaging surface of the imager 39 a 1 and the second verticaldriving point DPyr.

The angle θyr is the angle between the y direction and the line passingthrough the rotation center O and the second vertical driving point DPyrin the initial state.

The values Lyr and θyr are fixed values that are determined by design inadvance.

The movement/rotation of the movable platform 30 a, which includes theimaging unit 39 a, is performed by using an electro-magnetic force andis described later.

The driving force D is for driving the driver circuit 29 in order tomove the movable platform 30 a to the position S.

The horizontal direction component of the driving force D for thehorizontal coil 31 a is defined as the horizontal driving force Dx(after D/A conversion, the horizontal PWM duty dx).

The vertical direction component of the driving force D for the firstvertical coil 32 a 1 is defined as the first vertical driving force Dyl(after D/A conversion, the first vertical PWM duty dyl).

The vertical direction component of the driving force D for the secondvertical coil 32 a 2 is defined as the second vertical driving force Dyr(after D/A conversion, the second vertical PWM duty dyr).

Driving of the movable platform 30 a, including movement to the fixed(held) position of the initial state, is performed by theelectro-magnetic force of the coil unit and the magnetic unit throughthe driver circuit 29, which has the horizontal PWM duty dx input fromthe PWM 0 of the CPU 21, the first vertical PWM duty dyl input from thePWM 1 of the CPU 21, and the second vertical PWM duty dyr input from thePWM 2 of the CPU 21 (see (3) in FIG. 7).

The detected position P of the movable platform 30 a, either before orafter the movement/rotation performed by the driver circuit 29, isdetected by the hall sensor unit 44 a and the hall sensorsignal-processing unit 45.

Information regarding the horizontal direction component of the detectedposition P, in other words, the horizontal detected position signal px,is input to the A/D converter A/D 3 of the CPU 21 (see (4) in FIG. 7).The horizontal detected position signal px is an analog signal that isconverted to a digital signal by the A/D converter A/D 3 (A/D conversionoperation). The horizontal direction component of the detected positionP after the A/D conversion operation is defined as pdx and correspondsto the horizontal detected position signal px.

Information regarding one of the vertical direction components of thedetected position P, in other words, the first vertical detectedposition signal pyl, is input to the A/D converter A/D 4 of the CPU 21.The first vertical detected position signal pyl is an analog signal thatis converted to a digital signal by the A/D converter A/D 4 (A/Dconversion operation). The first vertical direction component of thedetected position P after the A/D conversion operation is defined aspdyl and corresponds to the first vertical detected position signal pyl.

Information regarding the other of the vertical direction components ofthe detected position P, in other words, the second vertical detectedposition signal pyr, is input to the A/D converter A/D 5 of the CPU 21.The second vertical detected position signal pyr is an analog signalthat is converted to a digital signal by the A/D converter A/D 5 (A/Dconversion operation). The second vertical direction component of thedetected position P after the A/D conversion operation is defined aspdyr and corresponds to the second vertical detected position signalpyr.

The PID (Proportional Integral Differential) control calculates thehorizontal driving force Dx and the first and second vertical drivingforces Dyl and Dyr on the basis of the coordinate data of the detectedposition P (pdx, pdyl, pdyr) and the position S (Sx, Syl, Syr) followingmovement (see (5) in FIG. 7).

Driving of the movable platform 30 a to the position S corresponding tothe inclination correction of the PID control is performed when thephotographic apparatus 1 is in the inclination-correction mode (CP=1)where the inclination-correction ON/OFF correction switch 14 a is set tothe ON state.

When the inclination-correction parameter CP is 0, a PID controlunrelated to the inclination correction is performed so that the movableplatform 30 a is set to the initial state such that the movable platform30 a is moved to the center of the movement range under the conditionwhere each of the four sides composing the outline of the imagingsurface of the imager 39 a 1 of the imaging unit 39 a is parallel toeither the x direction or the y direction (see (6) in FIG. 7).

Note that while the photographic apparatus 1 is in the sleep mode, poweris not supplied to the horizontal coil 31 a, etc., so that theabove-described controlled movement of the movable platform 30 a is notperformed in order to reduce the electric power consumption.

The movable platform 30 a has the coil unit for driving that iscomprised of a horizontal coil 31 a, a first vertical coil 32 a 1, asecond vertical coil 32 a 2, an imaging unit 39 a having the imager 39 a1, and a hall sensor unit 44 a as a magnetic-field change-detectingelement unit (see FIGS. 6 and 12). In the embodiment, the imager 39 a 1is a CCD; however, the imager 39 a 1 may be another type, such as aCMOS, etc.

The fixed unit 30 b has a magnetic position detection and driving unitthat is comprised of a horizontal magnet 411 b, a first vertical magnet412 b 1, a second vertical magnet 412 b 2, a horizontal yoke 431 b, afirst vertical yoke 432 b 1, and a second vertical yoke 432 b 2.

The fixed unit 30 b movably and rotatably supports the movable platform30 a in the rectangular-shaped movement range on the xy plane, usingballs, etc. The balls are arranged between the fixed unit 30 b and themovable platform 30 a.

When the center of the imager 39 a 1 (the rotation center O) isintersected by the optical axis LL of the camera lens 67, therelationship between the position of the movable platform 30 a and theposition of the fixed unit 30 b is arranged so that the movable platform30 a is positioned at the center of its movement range in both the xdirection and the y direction, in order to utilize the full size of theimaging range of the imager 39 a 1.

The rectangular shape of the imaging surface of the imager 39 a 1 hastwo diagonal lines. In the embodiment, the center of the imager 39 a 1is at the intersection of these two diagonal lines.

When the PON switch 11 a is set to the ON state corresponding to thedepressed PON button 11, but before the inclination correctioncommences, the movable platform 30 a is positioned at the center of itsmovement range in both the x and y directions, under the condition whereeach of the four sides of the rectangle composing the outline of theimaging surface of the imager (an imaging sensor) 39 a 1 is parallel toeither the x direction or the y direction, as in the initial state. Andthen, the inclination correction commences (see step S15 in FIG. 14).

The horizontal coil 31 a, the first vertical coil 32 a 1, the secondvertical coil 32 a 2, and the hall sensor unit 44 a are attached to themovable platform 30 a.

The horizontal coil 31 a forms a seat and a spiral-shaped coil pattern.The coil pattern of the horizontal coil 31 a has lines that are parallelto the y direction, thus creating the horizontal electro-magnetic forceto move the horizontal driving point DPx on the movable platform 30 athat includes the horizontal coil 31 a, in the x direction.

The horizontal electro-magnetic force is created by the currentdirection of the horizontal coil 31 a and the magnetic-field directionof the horizontal magnet 411 b.

The first vertical coil 32 a 1 forms a seat and a spiral-shaped coilpattern. The coil pattern of the first vertical coil 32 a 1 has linesthat are parallel to the x direction, thus creating the first verticalelectro-magnetic force to move the first vertical driving point DPyl onthe movable platform 30 a that includes the first vertical coil 32 a 1,in the y direction.

The first vertical electro-magnetic force is created by the currentdirection of the first vertical coil 32 a 1 and the magnetic-fielddirection of the first vertical magnet 412 b 1.

The second vertical coil 32 a 2 forms a seat and a spiral-shaped coilpattern. The coil pattern of the second vertical coil 32 a 2 has linesthat are parallel to the x direction, thus creating the second verticalelectro-magnetic force to move the second vertical driving point DPyr onthe movable platform 30 a that includes the second vertical coil 32 a 2,in the y direction and to rotate the movable platform 30 a.

The second vertical electro-magnetic force is created by the currentdirection of the second vertical coil 32 a 2 and the magnetic-fielddirection of the second vertical magnet 412 b 2.

The horizontal coil 31 a and the first and second vertical coils 32 a 1and 32 a 2 are connected to the driver circuit 29, which drives thehorizontal coil 31 a and the first and second vertical coils 32 a 1 and32 a 2, through the flexible circuit board (not depicted).

The horizontal PWM duty dx, which is a duty ratio of a PWM pulse, isinput to the driver circuit 29 from the PWM 0 of the CPU 21. The firstvertical PWM duty dyl, which is a duty ratio of a PWM pulse, is input tothe driver circuit 29 from the PWM 1 of the CPU 21. The second verticalPWM duty dyr, which is a duty ratio of a PWM pulse, is input to thedriver circuit 29 from the PWM 2 of the CPU 21.

The driver circuit 29 supplies power to the horizontal coil 31 a,corresponding to the value of the horizontal PWM duty dx, in order tomove the horizontal driving point DPx on the movable platform 30 a inthe x direction.

The driver circuit 29 supplies power to the first vertical coil 32 a 1,corresponding to the value of the first vertical PWM duty dyl, in orderto move the first vertical driving point DPyl on the movable platform 30a in the y direction.

The driver circuit 29 supplies power to the second vertical coil 32 a 2,corresponding to the value of the second vertical PWM duty dyr, in orderto move the second vertical driving point DPyr on the movable platform30 a in the y direction.

The first and second vertical coils 32 a 1 and 32 a 2 are arranged inthe x direction in the initial state.

The first and second vertical coils 32 a 1 and 32 a 2 are arranged inthe initial state such that the distance between the center of theimager 39 a 1 (the rotation center O) and the central area of the firstvertical coil 32 a 1 in the y direction is the same as the distancebetween the center of the imager 39 a 1 (the rotation center O) and thecentral area of the second vertical coil 32 a 2 in the y direction.

The horizontal magnet 411 b is attached to the movable platform side ofthe fixed unit 30 b, where the horizontal magnet 411 b faces thehorizontal coil 31 a and the horizontal hall sensor hh10 in the zdirection.

The first vertical magnet 412 b 1 is attached to the movable platformside of the fixed unit 30 b, where the first vertical magnet 412 b 1faces the first vertical coil 32 a 1 and the first vertical hall sensorhv1 in the z direction.

The second vertical magnet 412 b 2 is attached to the movable platformside of the fixed unit 30 b, where the second vertical magnet 412 b 2faces the second vertical coil 32 a 2 and the second vertical hallsensor hv2 in the z direction.

The horizontal magnet 411 b is attached to the horizontal yoke 431 b,such that the N pole and S pole are arranged in the x direction. Thehorizontal yoke 431 b is attached to the fixed unit 30 b.

The first vertical magnet 412 b 1 is attached to the first vertical yoke432 b 1, such that the N pole and S pole are arranged in the ydirection. The first vertical yoke 432 b 1 is attached to the fixed unit30 b.

Likewise, the second vertical magnet 412 b 2 is attached to the secondvertical yoke 432 b 2, such that the N pole and S pole are arranged inthe y direction. The second vertical yoke 432 b 2 is attached to thefixed unit 30 b.

The horizontal yoke 431 b is made of a soft magnetic material.

The horizontal yoke 431 b prevents the magnetic field of the horizontalmagnet 411 b from dissipating to the surroundings, and raises themagnetic-flux density between the horizontal magnet 411 b and thehorizontal coil 31 a, and between the horizontal magnet 411 b and thehorizontal hall sensor hh10.

The first and second vertical yokes 432 b 1 and 432 b 2 are made of asoft magnetic material.

The first vertical yoke 432 b 1 prevents the magnetic field of the firstvertical magnet 412 b 1 from dissipating to the surroundings, and raisesthe magnetic-flux density between the first vertical magnet 412 b 1 andthe first vertical coil 32 a 1, and between the first vertical magnet412 b 1 and the first vertical hall sensor hv1.

Likewise, the second vertical yoke 432 b 2 prevents the magnetic fieldof the second vertical magnet 412 b 2 from dissipating to thesurroundings, and raises the magnetic-flux density between the secondvertical magnet 412 b 2 and the second vertical coil 32 a 2, and betweenthe second vertical magnet 412 b 2 and the second vertical hall sensorhv2.

The horizontal yoke 431 b and the first and second vertical yokes 432 b1 and 432 b 2 may be composed of one body or separate bodies.

The hall sensor unit 44 a is a single-axis hall sensor with threecomponent hall sensors that are electromagnetic converting elements(magnetic-field change-detecting elements) using the Hall Effect. Thehall sensor unit 44 a detects the horizontal detected position signal pxas the present position P of the movable platform 30 a in the xdirection, the first vertical detected position signal pyl and thesecond vertical detected position signal pyr as the present position Pof the movable platform 30 a in the y direction.

One of the three hall sensors is a horizontal hall sensor hh10 fordetecting the horizontal detected position signal px, and another of thethree hall sensors is a first vertical hall sensor hv1 for detecting thefirst vertical detected position signal pyl, with the third being asecond vertical hall sensor hv2 for detecting the second verticaldetected position signal pyr.

The horizontal hall sensor hh10 is attached to the movable platform 30a, where the horizontal hall sensor hh10 faces the horizontal magnet 411b of the fixed unit 30 b in the z direction, and where the horizontaldriving point DPx is set to a position close to the horizontal hallsensor hh10.

The horizontal hall sensor hh10 may be arranged outside the spiralwinding of the horizontal coil 31 a in they direction. However, it isdesirable for the horizontal hall sensor hh10 to be arranged inside thespiral winding of the horizontal coil 31 a, and midway along the outercircumference of the spiral winding of the horizontal coil 31 a in the xdirection (see FIG. 12).

The horizontal hall sensor hh10 is layered on the horizontal coil 31 ain the z direction. Accordingly, the area in which the magnetic field isgenerated for the position-detecting operation and the area in which themagnetic field is generated for driving the movable platform 30 a areshared. Therefore, the length of the horizontal magnet 411 b in the ydirection and the length of the horizontal yoke 431 b in the y directioncan be shortened.

Furthermore, the horizontal driving point DPx, to which the horizontalelectro-magnetic force based on the horizontal coil 31 a is applied, canbe close to a position-detecting point by the horizontal hall sensorhh10. Therefore, accurate driving control of the movable platform 30 ain the x direction can be performed.

The first vertical hall sensor hv1 is attached to the movable platform30 a, where the first vertical hall sensor hv1 faces the first verticalmagnet 412 b 1 of the fixed unit 30 b in the z direction, and where thefirst vertical driving point DPyl is set to a position close to thefirst vertical hall sensor hv1.

The second vertical hall sensor hv2 is attached to the movable platform30 a, where the second vertical hall sensor hv2 faces the secondvertical magnet 412 b 2 of the fixed unit 30 b in the z direction, andwhere the second vertical driving point DPyr is set to a position closeto the second vertical hall sensor hv2.

The first and second vertical hall sensors hv1 and hv2 are arranged inthe x direction in the initial state.

The first vertical hall sensor hv1 may be arranged outside the spiralwinding of the first vertical coil 32 a 1 in the x direction. However,it is desirable for the first vertical hall sensor hv1 to be arrangedinside the spiral winding of the first vertical coil 32 a 1, and midwayalong the outer circumference of the spiral winding of the firstvertical coil 32 a 1 in the y direction.

The first vertical hall sensor hv1 is layered on the first vertical coil32 a 1 in the z direction. Accordingly, the area in which the magneticfield is generated for the position-detecting operation and the area inwhich the magnetic field is generated for driving the movable platform30 a are shared. Therefore, the length of the first vertical magnet 412b 1 in the x direction and the length of the first vertical yoke 432 b 1in the x direction can be shortened.

The second vertical hall sensor hv2 may be arranged outside the spiralwinding of the second vertical coil 32 a 2 in the x direction. However,it is desirable for the second vertical hall sensor hv2 to be arrangedinside the spiral winding of the second vertical coil 32 a 2, and midwayalong the outer circumference of the spiral winding of the secondvertical coil 32 a 2 in the y direction.

The second vertical hall sensor hv2 is layered on the second verticalcoil 32 a 2 in the z direction. Accordingly, the area in which themagnetic field is generated for the position-detecting operation and thearea in which the magnetic field is generated for driving the movableplatform 30 a are shared. Therefore, the length of the second verticalmagnet 412 b 2 in the x direction and the length of the second verticalyoke 432 b 2 in the x direction can be shortened.

Furthermore, the first vertical driving point DPyl, to which the firstvertical electro-magnetic force based on the first vertical coil 32 a 1is applied, can be close to a position-detecting point by the firstvertical hall sensor hv1, and the second vertical driving point DPyr, towhich the second vertical electro-magnetic force based on the secondvertical coil 32 a 2 is applied, can be close to a position-detectingpoint by the second vertical hall sensor hv2. Therefore, accuratedriving control of the movable platform 30 a in the y direction can beperformed.

In the initial state and when the center of the imager 39 a 1 (therotation center O) is intersected by the optical axis LL of the cameralens 67, it is desirable for the horizontal hall sensor hh10 to belocated on the hall sensor unit 44 a so that it faces an intermediatearea between the N pole and S pole of the horizontal magnet 411 b in thex direction, as viewed from the z direction, to perform theposition-detecting operation and utilize the full range within which anaccurate position-detecting operation can be performed based on thelinear output change (linearity) of the single-axis hall sensor.

Similarly, in the initial state and when the center of the imager 39 a 1(the rotation center O) is intersected by the optical axis LL of thecamera lens 67, it is desirable for the first vertical hall sensor hv1to be located on the hall sensor unit 44 a so that it faces anintermediate area between the N pole and S pole of the first verticalmagnet 412 b 1 in the y direction, as viewed from the z direction.

Likewise, in the initial state and when the center of the imager 39 a 1(the rotation center O) is intersected by the optical axis LL of thecamera lens 67, it is desirable for the second vertical hall sensor hv2to be located on the hall sensor unit 44 a so that it faces anintermediate area between the N pole and S pole of the second verticalmagnet 412 b 2 in the y direction, as viewed from the z direction.

The first hall sensor signal-processing unit 45 has a signal processingcircuit of the magnetic-field change-detecting element that is comprisedof a first hall sensor signal-processing circuit 450, a second hallsensor signal-processing circuit 460, and a third hall sensorsignal-processing circuit 470.

The first hall sensor signal-processing circuit 450 detects a horizontalpotential difference between the output terminals of the horizontal hallsensor hh10, based on the output signal of the horizontal hall sensorhh10.

The first hall sensor signal-processing circuit 450 outputs thehorizontal detected position signal px to the A/D converter A/D 3 of theCPU 21, on the basis of the horizontal potential difference. Thehorizontal detected position signal px represents the specific locationof the horizontal hall sensor hh10 on the movable platform 30 a, in thex direction.

The first hall sensor signal-processing circuit 450 is connected to thehorizontal hall sensor hh10 through the flexible circuit board (notdepicted).

The second hall sensor signal-processing circuit 460 detects a firstvertical potential difference between the output terminals of the firstvertical hall sensor hv1, based on the output signal of the firstvertical hall sensor hv1.

The second hall sensor signal-processing circuit 460 outputs the firstvertical detected position signal pyl to the A/D converter A/D 4 of theCPU 21, on the basis of the first vertical potential difference. Thefirst vertical detected position signal pyl represents the specificlocation of the first vertical hall sensor hv1 (the position-detectingpoint by the first vertical hall sensor hv1) on the movable platform 30a, in the y direction.

The second hall sensor signal-processing circuit 460 is connected to thefirst vertical hall sensor hv1 through the flexible circuit board (notdepicted).

The third hall sensor signal-processing circuit 470 detects a secondvertical potential difference between the output terminals of the secondvertical hall sensor hv2, based on the output signal of the secondvertical hall sensor hv2.

The third hall sensor signal-processing circuit 470 outputs the secondvertical detected position signal pyr to the A/D converter A/D 5 of theCPU 21, on the basis of the second vertical potential difference. Thesecond vertical detected position signal pyr represents the specificlocation of the second vertical hall sensor hv2 (the position-detectingpoint by the second vertical hall sensor hv2) on the movable platform 30a, in the y direction.

The third hall sensor signal-processing circuit 470 is connected to thesecond vertical hall sensor hv2 through the flexible circuit board (notdepicted).

In the embodiment, the three hall sensors (hh10, hv1 and hv2) areconfigured to specify the location of the movable platform 30 aincluding the rotational (inclination) angle.

The locations in the y direction of the two points on the movableplatform 30 a are determined by using two of the three hall sensors (hv1and hv2). These two points are close to the first vertical driving pointDPyl and the second vertical driving point DPyr, respectively. Thelocation in the x direction of the one point on the movable platform 30a is determined by using another of the three hall sensors (hh10). Thisone point is close to the horizontal driving point DPx. The location ofthe movable platform 30 a, which includes the rotational (inclination)angle on the xy plane, can be determined on the basis of the informationregarding the locations in the x direction of the one point and thelocation in the y direction of the two points.

The calculation of the present position P (the horizontal detectedposition signal px, the first vertical detected position signal pyl, andthe second vertical detected position signal pyr) is continuouslyperformed even when the photographic apparatus 1 is set to the sleepmode.

In other words, electric power is continuously supplied to thehorizontal hall sensor hh10, the first vertical hall sensor hv1, thesecond vertical hall sensor hv2, and the hall sensor signal-processingunit 45 even when the photographic apparatus 1 is in the sleep mode.

Therefore, the present position P is always specified while thephotographic apparatus 1 is in the ON state.

Accordingly, the controlled movement of the movable platform 30 a canalso be accurately performed immediately after the end of sleep mode.

Next, the main operation of the photographic apparatus 1 in theembodiment is explained using the flowchart of FIGS. 14 and 15.

When the PON switch 11 a is set to the ON state, the photographicapparatus 1 is set to the ON state and electrical power is supplied tothe inclination detection unit 25 so that the inclination detection unit25 is set to the ON state in step S11.

In step S12 the CPU 21 initializes the values, which include therotation quantity α, the elapsed time parameter TT, the sleep modeparameter SLP, and the nonuse elapsed time parameter NSW.

Specifically, the CPU 21 sets the value of the rotation quantity α, theelapsed time parameter TT, the sleep mode parameter SLP, and the nonuseelapsed time parameter NSW to 0.

Furthermore, the lens information is communicated from the camera lens67 to the CPU 21.

In step S13, a timer interrupt process at the predetermined timeinterval (1 ms) commences. The details of the timer interrupt process inthe embodiment are explained later using the flowcharts of FIGS. 16-18.

In step S14, the CPU 21 determines whether the inclination-correctionON/OFF switch 14 a (C-SW in FIG. 14) is set to the ON state. When theCPU 21 determines that the inclination-correction ON/OFF switch 14 a isset to the ON state, the operation continues to step S15. Otherwise, theoperation proceeds to step S16.

In step S15, the CPU 21 determines whether the value of the elapsed timeparameter TT is less than the second time TWAIT. When the CPU 21determines that the value of the elapsed time parameter TT is less thanthe second time TWAIT, the operation continues to step S16. Otherwise,the operation proceeds to step S17.

In step S16, the CPU 21 sets the value of the inclination-correctionparameter CP to 0.

In step S17, the CPU 21 sets the value of the inclination-correctionparameter CP to 1.

Therefore, the value of the inclination-correction parameter CP is setto 0 until the second time TWAIT has elapsed from the point when thephotographic apparatus 1 was set to the ON state, even if theinclination-correction ON/OFF switch 14 a is set to the ON state.

In the interrupt process that is performed during this period, themovable platform 30 a is positioned in its initial state at the centerof its movement range in both the x and y directions, under thecondition where each of the four sides of the rectangle composing theoutline of the imaging surface of the imager (an imaging sensor) 39 a 1is parallel to either the x direction or the y direction.

In step S18, the exposure operation, that is, the electric chargeaccumulation of the imager 39 a 1 (CCD etc.), is performed.

In step S19, the electric charge accumulated in the imager 39 a 1 duringthe exposure time is read. In step S20, the CPU 21 communicates with theDSP 19 so that the image-processing operation is performed based on theelectric charge read from the imager 39 a 1. The image on which theimage-processing operation is performed is displayed on the display 17(the indication of the through image).

In step S21, the photometric operation is performed by the AE unit 23 sothat the aperture value and the duration of the exposure operation arecalculated.

In step S22, the AF sensing operation is performed by the AF unit 24 andthe focusing operation is performed by driving the lens control circuit.

In step S23, the CPU 21 determines whether the shutter release switch 13a (R-SW in FIG. 15) is set to the ON state. When the CPU 21 determinesthat the shutter release switch 13 a is not set to the ON state, theoperation returns to step S14 and the process described in steps S14-S22is repeated. Otherwise, the operation continues on to step S24.

In step S24, the exposure operation, that is, the electric chargeaccumulation of the imager 39 a 1 (CCD etc.), is performed. In step S25,the electric charge accumulated in the imager 39 a 1 during the exposuretime is read. In step S26, the CPU 21 communicates with the DSP 19 sothat the image-processing operation is performed based on the electriccharge read from the imager 39 a 1. The image on which theimage-processing operation is performed is stored in the memory of thephotographic apparatus 1. In step S27, the image stored in the memory isdisplayed on the display 17, and the operation then returns to step S14.In other words, the photographic apparatus 1 is returned to a state inwhich the next imaging operation can be performed.

Next, the timer interrupt process in the embodiment, which commences instep S13 of FIG. 14 and is performed at every predetermined timeinterval (1 ms) independent of the other operations, is explained usingthe flowchart of FIGS. 16 and 17.

When the timer interrupt process commences, the first acceleration ah,which is output from the inclination detection unit 25, is input to theA/D converter A/D 1 of the CPU 21 and converted to the first digitalacceleration signal Dah in step S51. Similarly, the second accelerationav, which is also output from the inclination detection unit 25, isinput to the A/D converter A/D 2 of the CPU 21 and converted to thesecond digital acceleration signal Day (the acceleration detectionoperation).

In the acceleration detection operation in step S51, the firstacceleration ah and the second acceleration av, which are amplified bythe first and second amplifiers 28 a and 28 b, are input to the CPU 21.

The high frequencies of the first and second digital accelerationsignals Dah and Day are reduced in the digital low-pass filteringprocess (the first and second digital acceleration Aah and Aav).

In step S52, the hall sensor unit 44 a detects the position of themovable platform 30 a. The horizontal detected position signal px andthe first and second vertical detected position signals pyl and pyr arecalculated by the hall sensor signal-processing unit 45. The horizontaldetected position signal px is then input to the A/D converter A/D 3 ofthe CPU 21 and converted to the digital signal pdx, the first verticaldetected position signal pyl is then input to the A/D converter A/D 4 ofthe CPU 21 and converted to the digital signal pdyl, and the secondvertical detected position signal pyr is input to the A/D converter A/D5 of the CPU 21 and also converted to the digital signal pdyr, both ofwhich thus specify the present position P (pdx, pdyl, pdyr) of themovable platform 30 a (see (4) in FIG. 7).

In step S53, the CPU 21 calculates the camera inclination angle Kθ onthe basis of the first and second digital accelerations Aah and Aav (see(1) in FIG. 7).

The details of the calculation of the camera inclination angle Kθ in theembodiment are explained later using the flowchart of FIG. 18.

In step S54, the CPU 21 determines whether one of the operation keys ofthe photographic apparatus 1 has been operated. When the CPU 21determines that none of the operation keys of the photographic apparatus1 have been operated, the operation continues to step S55. When the CPU21 determines that one of the operation keys of the photographicapparatus has been operated, the operation proceeds to step S60.

In step S55, the CPU 21 determines whether the value of the sleep modeparameter SLP is set to 1. When the CPU 21 determines that the value ofthe sleep mode parameter SLP is not set to 1, the operation continues tostep S56. Otherwise, the operation proceeds to step S59.

In step S56, the CPU 21 incrementally increases the nonuse elapsed timeparameter NSW. Specifically, the CPU 21 adds 1 to the value of thenonuse elapsed time parameter NSW.

In step S57, the CPU 21 determines whether the value of the nonuseelapsed time parameter NSW is greater than the first time OTM. When theCPU 21 determines that the value of the nonuse elapsed time parameterNSW is greater than the first time OTM, the operation continues to stepS58. Otherwise, the operation proceeds to step S62.

In step S58, the CPU 21 sets the value of the sleep mode parameter SLPto 0.

In step S59, the CPU 21 sets the drive of the movable platform 30 a tothe OFF state. In other words, the CPU 21 stops the supply of electricpower to the coils (the horizontal coil 31 a, the first vertical coil 32a 1, and the second vertical coil 32 a 2) and disables the coils'driving control for the movable platform 30 a.

In step S60, the CPU 21 sets the value of the nonuse elapsed timeparameter NSW to 0.

In step S61, the CPU 21 sets the value of the sleep mode parameter SLPto 0 so that the CPU 21 sets the drive of the movable platform 30 a tothe ON state. In other words, the CPU 21 permits the supply of electricpower to the coils (the horizontal coil 31 a, the first vertical coil 32a 1, and the second vertical coil 32 a 2) and enables the coils' drivingcontrol for the movable platform 30 a.

In step S62, the CPU 21 determines whether the value of theinclination-correction parameter CP is 0. When the CPU 21 determinesthat the value of the inclination-correction parameter CP is 0 (CP=0),in other words, that the photographic apparatus 1 is not in theinclination-correction mode, the operation continues to step S63.

When the CPU 21 determines that the value of the inclination-correctionparameter CP is not 0 (CP=1), in other words when the photographicapparatus 1 is in inclination-correction mode, the operation proceeds tostep S64.

In step S63, the CPU 21 sets the position S (Sx, Syl, Syr), which iswhere the movable platform 30 a should be moved, to the center of itsmovement range in both the x and y directions, under the condition inwhich each of the four sides of the rectangle composing the outline ofthe imaging surface of the imager (an imaging sensor) 39 a 1 is parallelto either the x direction or the y direction. (see (6) in FIG. 7). Inother words, the movable platform 30 a is set to the initial state.

In step S64, the CPU 21 calculates the magnitude of the rotationquantity α on the basis of the camera inclination angle Kθ (α=−Kθ).

In step S65, the CPU 21 calculates the position S (Sx, Syl, Syr) wherethe movable platform 30 a should be moved (the movement position Sx ofthe horizontal driving point DPx, the movement position Syl of the firstvertical driving point DPyl, and the movement position Syr of the secondvertical driving point DPyr), on the basis of the rotation quantity α,etc. (see (2) in FIG. 7).

In step S66, the CPU 21 calculates the horizontal driving force Dx (thehorizontal PWM duty dx), the first vertical driving force Dyl (the firstvertical PWM duty dyl), and the second vertical driving force Dyr (thesecond vertical PWM duty dyr) of the driving force D, which moves themovable platform 30 a to the position S on the basis of the presentposition P (pdx, pdyl, pdyr) and the coordinates of position S (Sx, Syl,Syr) that were determined in step S63 or step S65 (see (5) in FIG. 7).

In step S67, the horizontal coil 31 a is driven by applying thehorizontal PWM duty dx through the driver circuit 29: the first verticalcoil 32 a 1 is driven by applying the first vertical PWM duty dylthrough the driver circuit 29 and the second vertical coil 32 a 2 isdriven by applying the second vertical PWM duty dyr through the drivercircuit 29, so that the movable platform 30 a is moved to position S(Sx, Syl, Syr) (see (3) in FIG. 7).

The process of steps S66 and S67 is an automatic control calculationthat is performed by the PID automatic control for performing general(normal) proportional, integral, and differential calculations.

Next, the calculation of the camera inclination angle Kθ, which isperformed in step S53 of FIG. 16, is explained using the flowchart ofFIG. 18.

When the calculation of the camera inclination angle Kθ commences, theCPU 21 determines whether the absolute value of the second digitalacceleration Aav is larger than or equal to the absolute value of thefirst digital acceleration Aah, in step S71.

When the CPU 21 determines that the absolute value of the second digitalacceleration Aav is larger than or equal to the absolute value of thefirst digital acceleration Aah, the operation proceeds to step S75,otherwise, the operation continues to step S72.

In step S72, the CPU 21 determines whether the first digitalacceleration Aah is larger than or equal to 0. When the CPU 21determines that the first digital acceleration Aah is larger than orequal to 0, the operation proceeds to step S74, otherwise, the operationcontinues to step S73.

In step S73, the CPU 21 determines that the photographic apparatus 1 isheld approximately in the first vertical orientation, and calculates thecamera inclination angle Kθ by taking the negative value of the arcsinetransformation of the second digital acceleration Aav (Kθ=−Sin⁻¹(Aav)).

In step S74, the CPU 21 determines that the photographic apparatus isheld approximately in the second vertical orientation, and calculatesthe camera inclination angle Kθ by performing the arcsine transformationon the second digital acceleration Aav (Kθ=+Sin⁻¹(Aav)).

In step S75, the CPU 21 determines whether the second digitalacceleration Aav is larger than or equal to 0. When the CPU 21determines that the second digital acceleration Aav is larger than orequal to 0, the operation proceeds to step S77, otherwise, the operationcontinues to step S76.

In step S76, the CPU 21 determines that the photographic apparatus 1 isheld approximately in the second horizontal orientation, and calculatesthe camera inclination angle Kθ by performing the arcsine transformationon the first digital acceleration Aah (Kθ=+Sin⁻¹(Aah)).

In step S77, the CPU 21 determines that the photographic apparatus isheld approximately in the first horizontal orientation, and calculatesthe camera inclination angle Kθ by taking the negative value of thearcsine transformation of the first digital acceleration Aah(Kθ=−Sin⁻¹(Aah)).

In the embodiment, the CPU 21 stops the controlled movement of themovable platform 30 a to the position S (Sx, Syl, Syr) and stops theimaging operation, when the photographic apparatus 1 is set to the sleepmode.

Note that the calculation of the camera inclination angle Kθ by theinclination detection unit 25 and the CPU 21, and the calculation of thepresent position P (pdx, pdyl, pdyr) of the movable platform 30 a by theCPU 21 and the hall sensor unit 44 a, are both continuously performedeven when the photographic apparatus 1 is set to the sleep mode.

Therefore, the latest camera inclination angle Kθ and the latest presentposition P can be specified at the point in time when the sleep mode iscancelled.

Accordingly, the inclination correction can also be performed accuratelyimmediately after the sleep mode is cancelled.

Note that, it is explained that the hall sensor is configured to performposition detection as the magnetic-field change-detecting element.However, another detection element, an MI (Magnetic Impedance) sensorsuch as a high-frequency carrier-type magnetic-field sensor, a magneticresonance-type magnetic-field detecting element, or an MR(Magneto-Resistance effect) element may be configured to performposition detection purposes. When one of either the MI sensor, themagnetic resonance-type magnetic-field detecting element, or the MRelement is used, the information regarding the position of the movableplatform can be obtained by detecting the magnetic-field change, similarto using the hall sensor.

Although the embodiment of the present invention has been describedherein with reference to the accompanying drawings, obviously manymodifications and changes may be made by those skilled in this artwithout departing from the scope of the invention.

The present disclosure relates to subject matter contained in JapanesePatent Application No. 2008-330255 (filed on Dec. 25, 2008), which isexpressly incorporated herein by reference, in its entirety.

1. A photographic apparatus comprising: a movable platform that has animager that captures an optical image through a taking lens, and ismovable and rotatable on an xy plane perpendicular to an optical axis ofsaid taking lens; and a controller that calculates an inclination angleof said photographic apparatus, which is formed by rotation of saidphotographic apparatus around said optical axis, as measured withrespect to a level plane perpendicular to the direction of gravitationalforce, and performs a controlled movement of said movable platform foran inclination correction based on said inclination angle; saidcontroller calculating said inclination angle and stopping saidcontrolled movement when said photographic apparatus is set to a sleepmode.
 2. The photographic apparatus according to claim 1, wherein saidcontroller detects the position of said movable platform when saidphotographic apparatus is set to said sleep mode.